Control of a Marine Vehicle in the Mode of Moving Along a Linear Coordinate

Abstract

Performing various maneuvers in the vertical and horizontal planes is one of the most important tasks that arise when controlling any object. It is important to build such automatic control systems that will meet most of the requirements for such systems. These requirements always include the stability of a closed-loop system, the accuracy of processing the control signal in various situations, such as the influence of constant disturbances, the influence of wave disturbances, emergency situations when some kind of problem occurs on board, etc. If all the requirements are met, we get a secure management system that does not depend on a person. It is extremely important to create such systems for unmanned devices, such as autonomous underwater vehicles. The article deals with the problem of implementing motion in the mode of moving along a linear coordinate (depth) for an unmanned underwater vehicle. An algorithm for constructing a control law satisfying given conditions, for example, a given equilibrium position in a vertical plane, astatism, is presented. A control law with a corrective device is constructed. This algorithm was implemented in MATLAB using the Simulink subsystem. MATLAB is one of the most powerful systems for computer modeling and analysis of dynamic systems, so the developed algorithm and its implementation with small changes can be easily adapted for any object.

Keywords

• control
• marine vessel
• stability